Unlock instant, AI-driven research and patent intelligence for your innovation.

System for conveying workpiece having external force monitoring function

a technology of external force and conveying system, which is applied in the field of conveying system, can solve the problems of not being able to achieve the function of external force monitoring function, and the inability to correctly detect the external force applied to the robot b>100/b>,

Active Publication Date: 2019-11-12
FANUC LTD
View PDF14 Cites 3 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, in such cases, the external force applied to the robot 100 cannot be correctly detected.
As mentioned above, in a conventional method, an external force cannot be correctly detected during the process from the time when the workpiece is started to be held (see FIG. 7B) to the time when the workpiece is supported only by the robot (see FIG. 7C), and thus the external force monitoring function is not achieved as intended.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • System for conveying workpiece having external force monitoring function
  • System for conveying workpiece having external force monitoring function
  • System for conveying workpiece having external force monitoring function

Examples

Experimental program
Comparison scheme
Effect test

first embodiment

[0040]FIG. 1A and FIG. 1B are schematic diagrams illustrating a conveying system 10 according to a The conveying system 10 includes: a robot 20; and a workpiece support 30 which is arranged in a movable range of the robot 20 and on top face of which a workpiece 40 is disposed. The robot 20 is, for example, a vertical articulated robot as illustrated.

[0041]In one embodiment, the robot 20 is provided on a force sensor 21 which detects a force to be applied to the robot 20. The robot 20 includes: a base 22 which is attached to the force sensor 21; a body unit 23 which is rotatably attached to the base 22 such that the body unit 23 can rotate around a rotation shaft extending in a vertical direction; a lower arm 24 which is rotatably attached to the body unit 23 at one end of the lower arm 24; an upper arm 25 which is rotatably attached to the lower arm 24 at the other end of the lower arm 24; and a wrist 26 which is rotatably attached to the upper arm 25 at the tip of the upper arm 25...

second embodiment

[0063]FIGS. 4A to 4C are schematic diagrams illustrating a conveying system 10 according to a In the present embodiment, the supporting unit 32 of the workpiece support 30 is configured to releasably hold the workpiece 40. Specifically, a pair of supporting units 32 extending generally in the horizontal direction move such that the supporting units 32 come closer to each other or separate from each other so as to hold or release the workpiece 40. The supporting units 32 are driven by the motor 34. In another embodiment, the supporting units 32 may be configured to be opened and closed by hydraulic or pneumatic pressure.

[0064]FIG. 4A illustrates a conveying system 10 in which the robot 20 is positioned at a position where the workpiece 40 can be held. In this state, the workpiece 40 is held between the supporting units 32 of the workpiece support 30. In other words, the workpiece 40 is supported only by the workpiece support 30. FIG. 4B illustrates a state in which the hand 27 of th...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

A conveying system includes an external force calculation unit which calculates an external force applied to a robot based on a force or torque applied to the robot detected by a force detection unit, and workpiece parameters changed in accordance with the holding state of a workpiece, and a robot stopping unit which stops the robot when the calculated external force exceeds a threshold. The conveying system further includes a relative movement unit which moves the held workpiece and a workpiece support relative to each other. By the relative movement unit, the workpiece and workpiece support are moved relative to each other without changing the position and posture of the robot.

Description

RELATED APPLICATIONS[0001]The present application claims priority of Japanese Application Number 2014-100919, filed May 14, 2014, the disclosure of which is hereby incorporated by reference herein in its entirety.BACKGROUND ART[0002]1. Technical Field[0003]The present invention relates to a conveying system which conveys a workpiece by a robot.[0004]2. Description of the Related Art[0005]A known robot system which includes an external force monitoring function for monitoring a force or torque (hereinafter referred to as “external force”) which is applied to a robot from the outside in order to prevent the robot from being in contact with an object or operator around the robot to cause a serious accident. In such a robot system, safety is ensured by stopping a robot when a detected external force exceeds a predetermined threshold. It is important to take such a safety measure, in particular, in the case of a human-cooperative robot in which a robot and an operator share a workspace.[...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(United States)
IPC IPC(8): B25J13/08B25J9/16
CPCB25J13/085B25J9/1674Y10S901/02Y10S901/34G05B2219/40582Y10S901/46
Inventor YUELAI, WANGNAITOU, YASUHIROARITA, SOICHI
Owner FANUC LTD